Multi-station rotary clamping device

Abstract

A multi-station rotary clamping device, comprising a fixing base, a housing, and at least two clamping mechanisms, wherein an end cover of the housing is rotatably connected to the fixing base by means of a bearing, and a cavity is formed in the housing; a rotating driving mechanism is further provided in the cavity, and comprises a rotating electric motor assembly, a planetary gear and a central gear, the central gear being arranged in the cavity, and passing through the end cover of the housing and then being fixedly connected to the fixing base; an output shaft of the rotating electric motor assembly is fixedly connected to the planetary gear, and the rotating electric motor assembly is fixedly connected to the housing; and the planetary gear meshes with the central gear, and the rotating electric motor assembly is configured to drive the planetary gear to rotate around the central gear and to drive the housing and the clamping mechanisms to rotate relative to the fixing base. The multi-station rotary clamping device has an extended application range.

Description

A multi-station rotary clamping device Technical Field

[0001] The utility model relates to an electric clamping claw, in particular to a multi-station rotary clamping device. Background Art

[0002] The rotation structure and clamping structure layout of the rotary clamping devices currently on the market are unreasonable, resulting in an overall axial length that is too long and cannot adapt to scenarios with short size requirements.

[0003] For example, Patent No.: 202220343217.2, Patent Name: A Rotary Motion Electric Gripper and Device, Patent No.: 202110839007.2, Patent Name: A Rotary Electric Gripper. In both structures, a motor is provided inside, and the electric gripper is driven to rotate by the motor. In this structure, it is generally a single-station clamping assembly (i.e., only one pair of grippers), and the single-station clamping assembly is driven to rotate by the motor. If it is a multi-station clamping assembly (i.e., multiple pairs of grippers), generally, the multi-station clamping assembly is installed in a shell, and then a motor is provided above it, and the shell is driven to rotate by the motor, so that the multi-station clamping assembly can be driven to rotate at the same time. In this structure, the overall length of the equipment is relatively long, which makes it impossible to use it in some short spaces, and the usage scenarios are limited.

[0004] At the same time, the control of the rotation angle is not precise enough, resulting in poor clamping quality of the product.

[0005] Summary of the Invention

[0006] The utility model aims to provide a multi-station rotary clamping device. By using the structure, the overall length of the device is shortened and the scope of application is improved.

[0007] To achieve the above-mentioned object, the technical solution adopted by the present invention is as follows: a multi-station rotary clamping device, comprising a fixed base, a housing, and at least two sets of clamping mechanisms, wherein the end cover of the housing is rotatably connected to the fixed base via a bearing, a cavity is provided in the housing, a driving portion of the clamping mechanism is installed in the cavity, and a clamping portion of the clamping mechanism is fixed to a side of the housing away from the bearing;

[0008] A rotary drive mechanism is further provided in the cavity, comprising a rotary motor assembly, planetary gears and a central gear. The central gear is provided in the cavity and is fixedly connected to the fixing seat through the end cover of the housing.

[0009] The output shaft of the rotating motor assembly is fixedly connected to the planetary gear, and the rotating motor assembly is fixedly connected to the housing; the planetary gear is engaged with the central gear, and the rotating motor assembly is configured to drive the planetary gear to rotate around the central gear, and drive the housing and the clamping mechanism to rotate relative to the fixed seat.

[0010] In the above technical solution, the output shaft of the rotating motor assembly is connected to the housing through a connecting piece; one end of the connecting piece is fixed to the rotating motor assembly, and the other end is fixed to the housing.

[0011] In the above technical solution, the middle portion of the planetary gear is connected to the output shaft of the rotating motor assembly, and the planetary gear is arranged on the outside of the central gear and meshes with the outside of the central gear;

[0012] Or the middle portion of the planetary gear is connected to the output shaft of the rotating motor assembly, and the planetary gear is arranged on the inner side of the central gear and meshes with the inner side of the central gear.

[0013] The above technical solution also includes a finger, and protrusions are provided on both sides of the top of the finger mounting position, and a corresponding groove is provided at the bottom of the finger. The finger is installed on the finger mounting position by sliding; a groove and a protrusion are respectively provided on the opposite surfaces of the finger and the finger mounting position. When the finger is installed on the finger mounting position, the protrusion is locked in the groove.

[0014] The connecting member includes an L-shaped plate, which includes a horizontal plate and a vertical plate. The vertical plate is installed on the inner wall of the shell. One end of the horizontal plate is vertically connected to the vertical plate, and the other end passes through the output shaft of the rotating motor assembly and is connected to the rotating motor assembly.

[0015] In the above technical solution, at least one limiting member is provided on the end cover of the housing close to the bearing, and at least one buffer member is provided on the side wall of the fixing seat. The limiting member rotates with the housing and is configured to be positioned on the buffer member.

[0016] In the above technical solution, a first sensor is provided on the fixing seat, the first sensor is arranged facing the housing, and the first sensor is electrically connected to the rotating motor assembly;

[0017] And / or, a second sensor is provided on the housing, the second sensor is arranged opposite to the fixing seat, and the second sensor is electrically connected to the rotating motor assembly.

[0018] In the above technical solution, multiple groups of the clamping mechanisms are arranged at intervals, and the clamping mechanisms include a clamping motor assembly, a transmission mechanism, a slider seat and two sliders;

[0019] The clamping motor assembly is installed in the cavity, and the slider seat is installed on the side of the housing away from the bearing. The bottom of the slider seat is provided with two mutually parallel slide grooves, and the tops of the two sliders are respectively slidably set in one of the slide grooves. The bottom of each slider is provided with multiple finger mounting positions at intervals;

[0020] The transmission mechanism is arranged in the slider seat, the clamping motor assembly is connected to the two sliders via the transmission mechanism, and the clamping motor assembly drives the two sliders to move simultaneously via the transmission mechanism, and the movement directions of the two sliders are opposite.

[0021] In the above technical solution, a mounting cavity is provided in the slider seat, the mounting cavity is provided between the two slide grooves, and both ends of the mounting cavity are respectively connected to the two slide grooves.

[0022] In the above technical solution, the transmission mechanism includes a gear, a rack is provided on the inner side of each slider, the gear is arranged in the mounting cavity, the output shaft of the clamping motor assembly is connected to the middle part of the gear, and the racks on both sides are respectively engaged with the two sides of the gear; the clamping motor assembly is configured to drive the gear to rotate, and simultaneously drive the sliders on both sides to move along the corresponding slide grooves through the racks on both sides.

[0023] In the above technical solution, a coaxially arranged connecting shaft is installed in the middle of the central gear, and the end of the connecting shaft is connected to the fixing seat;

[0024] The bearing comprises a bearing body and a bearing end cover. The bearing body is sleeved on the coupling shaft, and the bearing end cover is sleeved on the bearing body. The end cover of the housing is fixedly connected to the bearing end cover.

[0025] Due to the application of the above technical solution, the utility model has the following advantages compared with the prior art:

[0026] 1. In this utility model, multiple clamping mechanisms are mounted on a housing, and a rotating motor assembly and a meshing planetary gear center gear are disposed within a cavity of the housing. The rotating motor is mounted on the inner wall of the cavity, and the rotating motor assembly drives the planetary gears to rotate. Since the center gear is fixedly connected to a fixed seat, the housing is driven to rotate around the fixed seat. In this structure, the rotary drive mechanism is directly built into the housing, effectively shortening the overall length of the device, making it suitable for use in smaller spaces and increasing its scope of application.

[0027] 2. In the present invention, a limiter and a buffer are provided on the housing to limit the rotation angle, thereby ensuring the rotation accuracy and improving the clamping quality and stability of the product;

[0028] 3. In the present invention, a sensor and a rotating motor assembly can be provided with an electronic control connection, and the sensor is used to detect the rotation angle of the shell relative to the fixed seat, thereby ensuring the rotation accuracy of the clamping mechanism and improving the clamping stability and quality of the product. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] FIG1 is a schematic structural diagram of a first embodiment of the present invention;

[0030] FIG2 is a schematic cross-sectional view of the structure of the first embodiment of the present invention;

[0031] FIG3 is a schematic structural diagram of the first embodiment of the present invention (the housing portion is not shown);

[0032] FIG4 is a schematic diagram of the three-dimensional structure of FIG3;

[0033] 5 is a schematic cross-sectional view of the connection between the gear, the slider seat and the slider in Example 1 of the present invention;

[0034] 6 is a schematic diagram of the three-dimensional structure of the connection between the gear and the slider seat and the slider in Example 1 of the present invention (one slider seat is not shown);

[0035] FIG7 is a schematic structural diagram of an embodiment of the present invention with a finger installed;

[0036] FIG8 is a schematic diagram of the three-dimensional structure of FIG7;

[0037] FIG9 is a schematic structural diagram of another embodiment of the present invention with fingers installed (in the state where the fingers are clamping the product);

[0038] FIG10 is a schematic diagram of the three-dimensional structure of FIG9 .

[0039] Among them: 1. Fixed seat; 2. Shell; 3. Clamping mechanism; 4. Bearing; 5. Cavity; 6. Rotating motor assembly; 7. Planetary gear; 8. Center gear; 9. Connector; 10. Horizontal plate; 11. Vertical plate; 12. Limiting piece; 13. Buffer; 14. Clamping motor assembly; 15. Slider seat; 16. Slider; 17. Slide groove; 18. Finger mounting position; 19. Mounting cavity; 20. Gear; 21. Rack; 22. Outer ring; 23. Coupling; 24. Inner ring; 25. Bearing end cover; 26. End cover; 27. Finger; 28. Product. DETAILED DESCRIPTION

[0040] The present invention will be further described below with reference to the accompanying drawings and embodiments:

[0041] Example 1: Referring to Figures 1 to 10, a multi-station rotary clamping device includes a fixed base 1, a housing 2, and at least two sets of clamping mechanisms 3. The end cover 26 of the housing 2 is rotatably connected to the fixed base 1 via a bearing 4. A cavity 5 is provided within the housing 2. The driving portion of the clamping mechanism 3 is installed in the cavity. The clamping portion of the clamping mechanism is fixed to the side of the housing away from the bearing.

[0042] In the present invention, the clamping device operates in a horizontal state, with the central axis of the bearing 4 being horizontal. It can also operate in a vertical state, or even in an inclined state. Taking the vertical state as an example, the fixing seat is at the top of the clamping device, and the clamping part is at the bottom of the clamping device. When operating in a horizontal state, the fixing seat is at the left or right side of the clamping device, and the clamping part is at the right or left side of the clamping device. In this embodiment, the clamping device is operated in a vertical state as an example, that is, the fixing seat is at the top of the shell, and the clamping part of the clamping mechanism is at the bottom of the shell.

[0043] A rotary drive mechanism is also provided in the cavity 5, and the rotary drive mechanism includes a rotary motor assembly 6, planetary gears 7 and a central gear 8. The central gear 8 is provided in the cavity 5, and the central gear is provided at the top of the cavity. The middle portion of the top surface of the central gear 8 is fixedly connected to the fixing base 1 through the end cover of the housing 2.

[0044] The output shaft of the rotating motor assembly 6 is fixedly connected to the planetary gear, the rotating motor assembly is fixedly connected to the housing, the planetary gear 7 is engaged with the central gear 8, and the rotating motor assembly 6 is configured to drive the planetary gear 7 to rotate and drive the housing 2 and the clamping mechanism 3 to rotate relative to the fixed base 1.

[0045] In this embodiment, the bottom of the clamping mechanism is located below the bottom of the shell, for example, and the product is clamped by the clamping mechanism. When it is necessary to drive the clamping mechanism and the product to rotate, the rotating motor assembly drives the planetary gear to rotate. Since the central gear is fixed relative to the fixed seat, and the position of the fixed seat is relatively fixed, the shell, the rotating motor assembly, the planetary gear and the clamping mechanism will rotate relative to the fixed seat, thereby realizing the rotation of the clamping mechanism and the clamped product. In this embodiment, the rotary drive mechanism is arranged inside the shell, and the engagement of the planetary gear and the central gear is used to drive the shell to rotate relative to the fixed seat. In this way, the overall length of the clamping device can be effectively shortened. In fact, it is suitable for use in situations where a small-sized clamping device is required, which can increase the scope of application.

[0046] The rotating motor assembly can be a rotating motor or a combination of a rotating motor and a reducer. When the rotating motor is working, it drives the planetary gear to rotate, and due to the engagement with the central gear, it drives the housing to rotate relative to the fixed seat.

[0047] As shown in Figure 2, a coaxial coupling 23 is mounted on top of the central gear. The top of the coupling is connected to the fixed seat. The bearing comprises a bearing body and a bearing end cap. The bearing body is sleeved on the coupling, and the bearing end cap is sleeved on the bearing body. The end cap of the housing is fixedly connected to the bearing end cap. The outer ring 22 of the bearing 4 is connected to the end cap at the top of the housing via the bearing end cap. The middle portion of the coupling 23 is connected to the inner ring 24 of the bearing 4, and the top of the coupling 23 is connected to the fixed seat 1.

[0048] When the planetary gear rotates, it pushes the outer ring 22 of the bearing 4 and the housing 2 to rotate relative to the fixing seat 1 .

[0049] In this embodiment, there are balls between the inner ring and outer ring of the bearing, so that the inner ring and outer ring of the bearing can rotate relative to each other. The outer ring of the bearing is connected to the top of the housing, and the central gear is connected to the inner ring through the middle of the connecting shaft. In this way, when the planetary gear rotates, it can drive the outer ring to rotate relative to the inner ring, that is, the outer ring of the bearing is used to push the housing to rotate relative to the fixed seat.

[0050] A bearing end cover 25 is installed on the outside of the outer ring to shield and protect the bearing, and the bottom of the bearing end cover is connected to the end cover on the top of the housing.

[0051] In this utility model, there are two ways to connect the planetary gears to the sun gear. First, the center of the planetary gears is connected to the output shaft of the rotating motor assembly, and the planetary gears are positioned outside the sun gear and mesh with the sun gear. In this configuration, the sun gear has convex teeth on its outer surface, and the outer surfaces of the planetary gears mesh with the convex teeth on the outer surface of the sun gear. This configuration is selected in this embodiment.

[0052] The second type: The center of the planetary gears is connected to the output shaft of the rotating motor assembly. The planetary gears are located inside the central gear and mesh with the central gear. In this configuration, the central gear has a cylindrical groove in the center of its bottom surface, and convex teeth are provided on the inner wall of the cylindrical groove. The outer surfaces of the planetary gears mesh with the convex teeth on the inner wall of the cylindrical groove.

[0053] Either of the two structures for connecting the planetary gears and the central gear can be selected. In this embodiment, the planetary gears and the central gear are in an external meshing structure.

[0054] The central gear 8 is arranged above the clamping mechanism 3, and the rotating motor assembly 6 and the planetary gear 7 are arranged beside the clamping mechanism 3. This can reasonably utilize the space inside the housing cavity, and can also install the rotary drive mechanism without increasing the outer dimensions of the housing. It can also shorten the overall length of the clamping device and expand the applicability of the clamping device.

[0055] 2 , 3 and 4 , the output shaft of the rotating motor assembly 6 is connected to the housing through a connector 9 , one end of the connector is fixed to the rotating motor assembly, and the other end is fixed to the housing (i.e., it is connected to the inner wall of the cavity).

[0056] The connecting member 9 comprises an L-shaped plate, which includes a horizontal plate 10 and a vertical plate 11. The vertical plate 11 is mounted on the inner wall of the housing (the inner wall of the cavity). One end of the horizontal plate 10 is vertically connected to the bottom of the vertical plate 11, and the other end passes through the output shaft of the rotating motor assembly and is connected to the rotating motor assembly. The top of the rotating motor assembly 6 is mounted on the bottom of the horizontal plate 10, and the planetary gear 7 is arranged above the horizontal plate 10. The output shaft of the rotating motor assembly 6 passes through the horizontal plate 10 and is connected to the bottom of the planetary gear 7.

[0057] In this embodiment, the vertical plate is connected to the housing, while the horizontal plate is used to connect to the rotating motor assembly, thereby installing the rotating motor assembly within the cavity and securing it to the housing. The planetary gears are connected to the output shaft of the rotating motor assembly, so that the output shaft of the rotating motor assembly can drive the planetary gears to rotate, thereby driving the planetary gears to rotate relative to the sun gear.

[0058] Of course, in the present invention, the connecting member can be another structure. The connecting member can be a rod, one end of which is connected to the top or bottom of the cavity, and the other end is rotatably connected to the middle of the planetary gear. The rotating motor assembly and the center of the planetary size are fixedly connected, that is, the rotating motor assembly, the planetary gear and the housing are connected by a rod.

[0059] As shown in Figures 1 to 4, at least one limiter 12 is provided on the end cover of the housing near the bearing, and at least one buffer 13 is provided on the side wall of the fixed seat. The limiter rotates with the housing and is configured to be positioned on the buffer. In this way, when the housing rotates, the limiter will also be driven to rotate. Due to the presence of the buffer, the limiter will be blocked, thereby improving the position accuracy of the clamping device and allowing for positioning at any angle. For example, if it is necessary to limit the rotation of the housing within 360 degrees, two buffers are provided. When the two buffers are 180 degrees apart and parallel, the housing can rotate 180 degrees. When the two buffers are 90 degrees apart, the housing can rotate 90 degrees. The required rotation angle of the housing can be limited according to the position of the buffer. If 360-degree rotation is required, only one buffer is provided. In this way, the limiter is limited on both sides of the buffer to achieve 360-degree rotation limitation.

[0060] In this embodiment, a limiting member 12 is provided on the upper side wall of the shell 2, and a buffer member 13 is provided on the two opposite side walls of the fixing seat 1 respectively. The limiting member 12 is arranged between the two buffer members 13, and the buffer member 13 and the limiting member 12 limit the rotation angle of the shell 2.

[0061] In this embodiment, when the housing rotates relative to the fixed base, the limiter rotates between two buffers, one of which is located at the left rear end of the fixed base, and the other at the right rear end of the fixed base. This allows the housing to rotate relative to the fixed base. When the housing rotates clockwise to a certain position, the limiter abuts against the left buffer, thereby limiting further clockwise rotation of the housing. When the housing rotates counterclockwise to a certain position, the limiter abuts against the right buffer, thereby limiting further counterclockwise rotation of the housing. Therefore, in this embodiment, the limiter and the two buffers limit the rotation angle of the housing, thereby limiting the rotation angle and ensuring rotation accuracy.

[0062] As shown in Figures 2 to 6, multiple groups of the clamping mechanisms 3 are arranged at intervals, and the clamping mechanisms 3 include a clamping motor assembly 14, a transmission mechanism, a slider seat 15 and two sliders 16; wherein, the clamping motor assembly and the transmission mechanism constitute the driving part of the clamping mechanism, and the slider seat and the slider constitute the clamping part of the clamping mechanism.

[0063] In this embodiment, there are two groups of clamping mechanisms, which are arranged at intervals, and the rotating assembly is arranged beside the clamping mechanisms.

[0064] The clamping motor assembly 14 is mounted within the cavity 5. The slider seat 15 is mounted on the side of the housing 2 away from the bearing, that is, the slider seat is mounted on the bottom of the housing. The bottom of the slider seat 15 is provided with two parallel grooves 17. The tops of the two sliders 16 slide into one of the grooves 17. The bottom of each slider 16 is provided with multiple finger mounting positions 18 at intervals. The top of the finger mounting position 18 is T-shaped, with protrusions on both sides of its long sides and matching grooves at the bottom of the finger. The finger is slidably mounted on the finger mounting position 18, eliminating the need for multiple screws to secure it. Furthermore, to better position the finger, a groove and a protrusion are provided on the opposing surfaces of the finger and the finger mounting position. In this embodiment, the groove is provided on the upper surface of the finger mounting position 18 and is an arc-shaped groove, and the protrusion is provided on the lower surface of the finger and is an arc-shaped protrusion. During installation, the protrusion is correspondingly locked into the groove. By fixing the arc-shaped protrusion, the finger and the finger mounting position are fixed and positioned, making the overall installation more convenient.

[0065] The transmission mechanism is arranged in the slider seat 15, and the clamping motor assembly 14 is connected to the two sliders 16 via the transmission mechanism. The clamping motor assembly 14 drives the two sliders 16 to move simultaneously through the transmission mechanism, and the movement directions of the two sliders 16 are opposite.

[0066] In this embodiment, the finger mounting position is detachably mounted with a finger, for example, one finger is mounted at the bottom of each slider. When the two sliders move relative to each other, the two fingers are driven toward each other, thereby clamping (or releasing) the product. When the two sliders move away from each other, the two fingers are driven away from each other, thereby releasing (or clamping) the product. In this embodiment, the clamping motor assembly can be a clamping motor, or the clamping motor assembly includes a clamping motor and a reducer, the output shaft of which is parallel to the rotary motor assembly, which converts the rotary motion through the transmission mechanism to drive the slider to perform linear reciprocating motion.

[0067] Referring to Figures 7 and 8, an embodiment (fingers mounted on a slider) is shown. Two sets of clamping mechanisms are provided, with each slider being equipped with a finger 27, which is positioned directly below the corresponding slider. Each set of clamping mechanisms drives the corresponding two sliders to move, that is, drives the two fingers toward or away from each other, thereby clamping or releasing the product. In this structure, the clamping device can be used to clamp and release two products (the two products can be the same or different) at the same station. For example, if there are two products at the same station, the fingers on the two sets of clamping mechanisms each clamp one product. Then, the rotary drive mechanism drives the housing and the clamping mechanism to rotate relative to the fixed base, which can drive the products to rotate to the corresponding position, thereby achieving the clamping and release of different products at the same station.

[0068] 9 and 10 , another embodiment (fingers are installed on the slider) is provided with two groups of clamping mechanisms, a finger 27 is installed on each slider, and the fingers of the two groups of clamping mechanisms are arranged back to back. In this embodiment, the outer ends of the fingers on one group of clamping mechanisms are arranged on the outside of one side of the shell, and the outer ends of the fingers of the other group of clamping mechanisms are arranged on the outside of the other side of the shell, and the outer ends of the fingers of the two groups of clamping mechanisms are symmetrical on the outside of both sides of the shell, so that when the two fingers on each group of clamping mechanisms approach each other, they can clamp the product, and when they move away from each other, they release the product 28. Taking the horizontal placement of the clamping device as an example, there is an upper station set above the space and a lower station below the space. Both stations process or place the same product. For example, the upper station processes the product first, and then the lower station processes the product. The clamping device will be between the upper and lower stations. After a set of fingers of the clamping mechanism clamps the upper workpiece, the rotary drive mechanism drives the shell to rotate 180 degrees, so that the product rotates to the lower station, and then the product is placed on the lower station (or processed directly without releasing it). Another set of fingers rotates to the upper station, and the fingers of another set of clamping mechanisms are used to clamp the product at the upper station, and the cycle continues. In this way, the same product can be clamped and released at different stations.

[0069] In the present invention, different fingers are used according to different processing conditions to achieve the clamping and releasing of different workpieces at the same workstation, or the clamping and releasing of the same workpiece at different workstations.

[0070] 5 and 6 , a mounting cavity 19 is provided in the slider seat 15 . The mounting cavity 19 is provided between the two slide grooves 17 , and both ends of the mounting cavity 19 are respectively connected to the two slide grooves 17 .

[0071] The transmission mechanism includes a gear 20, and a rack 21 is provided on the inner side of each slider 16. The gear 20 is arranged in the mounting cavity 19. The output shaft of the clamping motor assembly 14 is connected to the middle part of the gear 20, and the racks 21 on both sides are respectively engaged with the two sides of the gear 20; the clamping motor assembly 14 is configured to drive the gear 20 to rotate, and simultaneously drive the sliders 16 on both sides to move along the corresponding slide grooves 17 through the racks 21 on both sides.

[0072] In this embodiment, a rack is provided on the inner side of the slider, which meshes with the side of the gear. When the gear rotates, the two sliders are driven to move in a straight line through the meshing of the gears, and the movement directions of the two sliders are opposite, thereby driving the two fingers on them to move closer to or away from each other, thereby achieving the clamping or release of the product.

[0073] In the present invention, the transmission mechanism can also adopt the method of screw and synchronous belt, which can convert the rotational motion of the clamping motor assembly into the linear reciprocating motion of the slider. For example, when a synchronous belt is used, two synchronous pulleys are rotated in the installation cavity, the synchronous belt is wound on the two synchronous pulleys, the synchronous belt is set between the two sliders, the two sides of the synchronous belt are connected to the two sliders respectively, the output shaft of the clamping motor assembly is connected to a synchronous pulley, driving the synchronous pulley to rotate, thereby driving the synchronous belt to rotate, thereby driving the two sliders to move linearly relative to each other. If a screw is used, the screw is preferably a forward and reverse screw, a connecting plate is provided on the inner side of the slider to be inserted into the installation cavity, the two sliders are respectively connected to the two ends of the forward and reverse screws, the middle part of the forward and reverse screws is connected to the slider seat, a worm gear is provided on the outer surface of the middle part, and a worm engaged with the worm gear is provided on the output shaft of the clamping motor assembly, thereby driving the forward and reverse screws to rotate and driving the two sliders to move linearly (in this structure, the output shaft of the clamping motor assembly is perpendicular to the forward and reverse screws). Of course, when using the forward and reverse screws, the clamping motor assembly can also be parallel to the forward and reverse screw assembly, and directly connected to the ends of the forward and reverse screws to drive the forward and reverse screws to rotate. In the present utility model, the transmission mechanism can be selected according to actual conditions. In this embodiment, the transmission mechanism adopts a gear, and a rack meshing with the gear is provided on the inner side of the slider.

[0074] In the present invention, the limiting member and the two buffer members form a positioning structure. Another embodiment is: a first sensor is provided on the fixing seat, the first sensor is arranged facing the housing, and the first sensor is electrically connected to the rotating motor assembly.

[0075] The first sensor can be a laser sensor or a magnetic sensor. It serves as a positioning mechanism, detecting the rotation angle of the housing relative to the mounting base and feeding this information back to the rotating motor assembly to control the rotation angle of the planetary gears, thereby achieving rotational positioning of the housing and mounting base. This electronically controlled positioning method reduces accuracy compared to mechanical positioning methods using limiters and buffers, but occupies less space.

[0076] Another embodiment is: a second sensor is provided on the housing, the second sensor is arranged opposite to the fixing seat, and the second sensor is electrically connected to the rotating motor assembly.

[0077] The second sensor can be a laser sensor or a magnetic sensor. It serves as a positioning mechanism, detecting the rotation angle of the housing relative to the mounting base and feeding this information back to the rotating motor assembly to control the rotation angle of the planetary gears, thereby achieving rotational positioning of the housing and mounting base. This electronically controlled positioning method reduces accuracy compared to mechanical positioning using limiters and buffers, but occupies less space.

[0078] In the description of the present invention, it should be understood that the terms "upper," "lower," "top," "bottom," "inner," "outer," and the like, indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings and are intended solely to facilitate and simplify the description of the present invention. They are not intended to indicate or imply that the devices or elements referred to must have a specific orientation, be constructed, or operate in a specific orientation. Therefore, they should not be construed as limitations on the present invention. In the description of the present invention, "plurality" means two or more, unless otherwise expressly and specifically defined.

[0079] In this utility model, unless otherwise clearly specified or limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense. For example, they can be fixedly connected, detachably connected, or integrated; they can be mechanically connected or electrically connected; they can be directly connected or indirectly connected through an intermediate medium. For example, the two can be connected by abutting or touching to form a mechanical abutment or abutment. The two can also be directly hung or hung through an intermediate medium. It can also be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in this invention can be understood according to specific circumstances.

Claims

1. A multi-station rotary clamping device, characterized in that: The invention comprises a fixed seat (1), a shell (2) and at least two groups of clamping mechanisms (3); an end cover (26) of the shell (2) is rotatably connected to the fixed seat (1) via a bearing (4); a cavity (5) is provided in the shell (2); a driving part of the clamping mechanism (3) is installed in the cavity; and a clamping part of the clamping mechanism (3) is fixed on a side of the shell (1) away from the bearing (4); A rotary drive mechanism is also provided in the cavity (5), the rotary drive mechanism comprising a rotary motor assembly (6), a planetary gear (7) and a central gear (8), the central gear (8) being provided in the cavity (5), the central gear (8) passing through the end cover of the housing (2) and being fixedly connected to the fixing seat (1); The output shaft of the rotating motor assembly (6) is fixedly connected to the planetary gear (7), and the rotating motor assembly (6) is fixedly connected to the housing (1); the planetary gear (7) is meshed with the central gear (8), and the rotating motor assembly (6) is configured to drive the planetary gear (7) to rotate around the central gear (7), and drive the housing (2) and the clamping mechanism (3) to rotate relative to the fixed seat (1).

2. The multi-station rotary clamping device according to claim 1, characterized in that: The output shaft of the rotating motor assembly (6) passes through a connecting piece (9) and is connected to the housing (1); one end of the connecting piece (9) is fixed to the rotating motor assembly (6), and the other end is fixed to the housing (1).

3. The multi-station rotary clamping device according to claim 1, characterized in that: The middle part of the planetary gear (7) is connected to the output shaft of the rotating motor assembly (6), and the planetary gear (7) is arranged on the outside of the central gear (8) and meshes with the outside of the central gear (8); Alternatively, the middle portion of the planetary gear (7) is connected to the output shaft of the rotating motor assembly (6), and the planetary gear (7) is arranged on the inner side of the central gear (7) and meshes with the inner side of the central gear (7).

4. The multi-station rotary clamping device according to claim 2, characterized in that: The connecting member (9) comprises an L-shaped plate, wherein the L-shaped plate comprises a horizontal plate (10) and a vertical plate (11), wherein the vertical plate (11) is mounted on the inner wall of the housing (1), wherein one end of the horizontal plate (10) is vertically connected to the vertical plate (11), and the other end passes through the output shaft of the rotating motor assembly (6) and is connected to the rotating motor assembly (6).

5. The multi-station rotary clamping device according to claim 1, characterized in that: At least one limiting member (12) is provided on the end cover (26) of the housing (2) close to the bearing, and at least one buffer member (13) is provided on the side wall of the fixing seat (1). The limiting member (12) rotates with the housing (1) and is configured to be positioned on the buffer member (13).

6. The multi-station rotary clamping device according to claim 1, characterized in that: A first sensor is disposed on the fixing seat, the first sensor is disposed opposite to the housing, and the first sensor is electrically connected to the rotating motor assembly; And / or, a second sensor is provided on the housing, the second sensor is arranged opposite to the fixing seat, and the second sensor is electrically connected to the rotating motor assembly.

7. The multi-station rotary clamping device according to claim 1, characterized in that: A plurality of groups of the clamping mechanisms (3) are arranged at intervals, and the clamping mechanisms (3) include a clamping motor assembly (14), a transmission mechanism, a slider seat (15) and two sliders (16); The clamping motor assembly (14) is installed in the cavity (5), the slider seat (15) is installed on the side of the housing (2) away from the bearing, the bottom of the slider seat (15) is provided with two mutually parallel slide grooves (17), the tops of the two sliders (16) are respectively slidably arranged in one of the slide grooves (17), and the bottom of each slider (16) is provided with a plurality of finger installation positions (18) at intervals; The transmission mechanism is arranged in the slider seat (15); the clamping motor assembly (14) is connected to the two sliders (16) via the transmission mechanism; the clamping motor assembly (14) drives the two sliders (16) to move simultaneously via the transmission mechanism, and the moving directions of the two sliders (16) are opposite.

8. The multi-station rotary clamping device according to claim 7, characterized in that: It also includes a finger, wherein the top two sides of the finger mounting position are provided with protrusions, and the bottom of the finger is provided with a matching groove, and the finger is mounted on the finger mounting position by sliding; A groove and a protrusion are respectively arranged on the opposite surfaces of the finger and the finger installation position. When the finger is installed on the finger installation position, the protrusion is clamped in the groove.

9. The multi-station rotary clamping device according to claim 7, characterized in that: The slider seat (15) is provided with a mounting cavity (19), the mounting cavity (19) is arranged between the two slide grooves (17), and the two ends of the mounting cavity (19) are respectively connected to the two slide grooves (17); the transmission mechanism includes a gear (20), and a rack (21) is provided on the inner side of each slider (16), the gear (20) is arranged in the mounting cavity (19), the output shaft of the clamping motor assembly (14) is connected to the middle part of the gear (20), and the racks (21) on both sides are respectively engaged with the two sides of the gear (20); the clamping motor assembly (14) is configured to drive the gear (20) to rotate, and simultaneously drive the sliders (16) on both sides to move along the corresponding slide grooves (17) through the racks (21) on both sides.

10. The multi-station rotary clamping device according to claim 1, characterized in that: A coaxially arranged connecting shaft (23) is installed in the middle of the central gear (7), and an end of the connecting shaft (23) is connected to the fixing seat (1); The bearing (4) comprises a bearing body and a bearing end cover (25); the bearing body is sleeved on the coupling shaft (23); the bearing end cover (25) is sleeved on the bearing body; and the end cover (26) of the housing (1) is fixedly connected to the bearing end cover (25).

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